src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
  17 #define BT_CONVEX_POINT_CLOUD_SHAPE_H
  18
  19 #include "btPolyhedralConvexShape.h"
  20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
  21 #include "LinearMath/btAlignedObjectArray.h"
  22
  23 ///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
  24 ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
  25 {
  26         btVector3* m_unscaledPoints;
  27         int m_numPoints;
  28
  29 public:
  30         BT_DECLARE_ALIGNED_ALLOCATOR();
  31
  32         btConvexPointCloudShape()
  33         {
  34                 m_localScaling.setValue(1.f,1.f,1.f);
  35                 m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
  36                 m_unscaledPoints = 0;
  37                 m_numPoints = 0;
  38         }
  39
  40         btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
  41         {
  42                 m_localScaling = localScaling;
  43                 m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
  44                 m_unscaledPoints = points;
  45                 m_numPoints = numPoints;
  46
  47                 if (computeAabb)
  48                         recalcLocalAabb();
  49         }
  50
  51         void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
  52         {
  53                 m_unscaledPoints = points;
  54                 m_numPoints = numPoints;
  55                 m_localScaling = localScaling;
  56
  57                 if (computeAabb)
  58                         recalcLocalAabb();
  59         }
  60
  61         SIMD_FORCE_INLINE       btVector3* getUnscaledPoints()
  62         {
  63                 return m_unscaledPoints;
  64         }
  65
  66         SIMD_FORCE_INLINE       const btVector3* getUnscaledPoints() const
  67         {
  68                 return m_unscaledPoints;
  69         }
  70
  71         SIMD_FORCE_INLINE       int getNumPoints() const
  72         {
  73                 return m_numPoints;
  74         }
  75
  76         SIMD_FORCE_INLINE       btVector3       getScaledPoint( int index) const
  77         {
  78                 return m_unscaledPoints[index] * m_localScaling;
  79         }
  80
  81 #ifndef __SPU__
  82         virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
  83         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
  84         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
  85 #endif
  86
  87
  88         //debugging
  89         virtual const char*     getName()const {return "ConvexPointCloud";}
  90
  91         virtual int     getNumVertices() const;
  92         virtual int getNumEdges() const;
  93         virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
  94         virtual void getVertex(int i,btVector3& vtx) const;
  95         virtual int     getNumPlanes() const;
  96         virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
  97         virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
  98
  99         ///in case we receive negative scaling
 100         virtual void    setLocalScaling(const btVector3& scaling);
 101 };
 102
 103
 104 #endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
 105